JP2014098962A - Behavior control device, behavior control method, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a communication between a user and a device have reality.SOLUTION: An agent server (1) is set independently from a user, indicating user feeling information set for a user and attributes of a cleaning robot (5). The agent server (1) includes: a behavior determination part (132) which determines behavior according to user feeling information and feeling information based on the feeling information to be updated; and an output information preparing part (133) which executes the behaviour.

Description

  The present invention relates to an action control device for allowing a user to experience communication with a device.

  2. Description of the Related Art Conventionally, various technologies relating to devices such as robots that allow a user of a device to experience communication with the device are known.

  Patent Document 1 below discloses a technique related to a pet-type robot that can enhance the entertainment property of the pet-type robot and can perform an operation closer to an actual pet.

  Patent Document 2 below discloses a robot apparatus that performs dialogue with emotion and a dialogue method of the robot apparatus.

  Further, Patent Document 3 below discloses an emotion expression device that enables a user to proceed with a dialogue while effectively expressing an emotion held by a virtual pseudo creature.

JP 2003-205179 A (published July 22, 2003) JP 2004-90109 A (published on March 25, 2004) JP 2001-209820 A (released on August 3, 2001)

  However, the technique described in the above-mentioned Patent Document 1 changes the “degree of familiarity” according to the frequency of contact with the pet-type robot, and changes the emotional behavior according to the “degree of familiarity”. Emotions were not considered.

  Similarly, the technique described in Patent Document 2 determines the response sentence to be issued and the attitude at that time in accordance with the robot's intimacy (emotion) with respect to the conversation person, and the robot's own emotion is taken into consideration. It wasn't.

  Furthermore, in the technique described in the above-mentioned Patent Document 3, it is not considered to change an emotion corresponding to each user or to determine an action and an action for the user based on the emotion.

  On the other hand, in the case of communication between humans, even when trying to communicate with the same partner, the content, tone, attitude, etc., which change depending on the mood at that time, change.

  As described above, in the conventional technology, since the behavior of the device is determined without considering the emotion of the device, the behavior of the device tends to be monotonous and easy to predict, and there is a problem of lack of realism. There was a point.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to realize an action control device that can enhance the reality of communication between a user and a device.

  In order to solve the above problem, a behavior control device according to an aspect of the present invention is a behavior control device that controls a behavior of a device to a user, the user attribute information set for the user, Action determination that is set independently of the user as an indication of the device attribute and determines a predetermined action according to the user attribute information and the device attribute information based on the device attribute information to be updated And execution control means for executing the action determined by the action determination means.

  In order to solve the above-mentioned problem, a behavior control method according to an aspect of the present invention is a behavior control method by a behavior control device that controls a behavior of a device to a user, and is set for the user. Based on the user attribute information and the device attribute information which is set independently of the user as an indication of the device and is to be updated, predetermined according to the user attribute information and the device attribute information. It includes an action determining step for determining an action and an execution control step for executing the action determined in the action determining step.

  According to one aspect of the present invention, in a behavior control apparatus for causing one or more users to simulate a communication with a device, communication with a user is more realistic and natural, such as communication between humans. As a result, it is possible to control the device.

It is a block diagram which shows the principal part structure of the agent server which concerns on one Embodiment of this invention. It is a schematic diagram which shows the outline | summary of the family message board system which concerns on this invention. It is a schematic diagram which shows the example of a screen of the family message board concerning this invention. It is a schematic diagram which shows the structure and specific example of the data memorize | stored in the anti-user emotion information storage part with which the said agent server is provided. It is a schematic diagram which shows the structure and specific example of the data memorize | stored in the calculation method memory | storage part with which the said agent server is provided. It is a schematic diagram which shows the structure and specific example of the data memorize | stored in the action memory | storage part with which the said agent server is provided. It is a flowchart which shows an example of the flow of the action determination process in the said agent server. (A) is a table which shows the example of an update of mood information, (b) and (c) are tables which show the example of an update of to-user sentiment information. It is a flowchart which shows an example of the flow of the mood information update process in the said agent server. It is a flowchart which shows an example of the flow of a user emotion information update process in the said agent server.

  An embodiment of the present invention will be described below with reference to FIGS.

[Outline of Family Message Board System]
First, the outline | summary of the family message board system concerning one Embodiment of this invention is demonstrated based on FIG. FIG. 2 is a diagram showing an outline of the family message board system 100.

  The family message board system 100 is a system that provides an electronic message board for communication between registered group members. Moreover, in the family message board system 100, writing is performed on the family message board in accordance with the state of the devices arranged in the home (hereinafter referred to as home devices), the contents written by the members, and the like. Furthermore, the family message board system 100 can also control the operation of household devices in accordance with instructions from members.

  As illustrated, the family message board system 100 includes an agent server (behavior control apparatus) 1, a family message board server 2, and a home server 3. Further, the family message board is accessed by the portable terminals 4a, 4b, and 4c possessed by family members (in the illustrated example, father, mother, and child), and writing, browsing, and operation instructions for home devices are performed. Be able to. In addition, a cleaning robot (device) 5 is connected to the home server 3 by wireless communication, and home devices are connected by wire or wirelessly. In the figure, an example is shown in which the home devices are the air conditioner 6, the lighting device 7, the television 8, and the recording device 9, but the types and number of home devices are not particularly limited.

  The agent server 1 writes on the family message board according to the state of the home device, the information acquired by the home device, the content written by the member, and the like. More specifically, the agent server 1 writes the character as an anthropomorphic character of the cleaning robot 5. Thereby, the member of a family can experience the communication with the cleaning robot 5 on the family message board.

  Further, the agent server 1 receives operation instructions from the mobile terminals 4a, 4b, and 4c, and transmits an operation instruction corresponding to the operation instructions to the home server 3, thereby controlling the operation of the cleaning robot 5 or the household device. .

  Here, an example in which the agent server 1 has a function of writing on the family message board and a function of controlling the operations of the cleaning robot 5 and household devices will be described. It may be installed in the server.

  The family message board server 2 performs all processes related to the family message board, such as the display of the display screen of the family message board for the mobile terminals 4a, 4b, and 4c, and the management of writing.

  The home server 3 controls the overall transmission / reception of information between the cleaning robot 5 or home device and the agent server 1. Specifically, the home server 3 controls the operation of the cleaning robot 5 or the household device according to the operation instruction received from the agent server 1. In addition, the home server 3 transmits information acquired from the cleaning robot 5 and information acquired from household devices to the agent server 1.

  In the illustrated example, sensing data acquired by a sensor mounted on the cleaning robot 5 or a home device, an operation log of the cleaning robot 5 or a home device, and a photograph taken by the cleaning robot 5 or the home device are shown. Although transmitted, the information to be transmitted is not limited to these examples.

  Further, when there is no need for overall control, for example, when there is no home device involved in the family message board, the cleaning robot 5 transmits and receives information to and from the agent server 1 without providing the home server 3. It is good also as composition to do.

  The portable terminals 4a, 4b, and 4c are devices for browsing and writing on the family message board and for operating the cleaning robot 5 and household devices. Although the portable terminal 4a, 4b, and 4c have shown the example which is a smart phone in the figure, if it can perform browsing of the family message board, writing, and operation instruction, it will not be restricted to this.

  The cleaning robot 5 is a self-propelled cleaner that automatically cleans the floor. In addition to the cleaning function, the cleaning robot 5 includes an operation log storage function, a remaining charge detection and output function, an image shooting function, a voice recognition function, a voice output function, and a temperature sensor for detecting room temperature. Etc. Further, the cleaning robot 5 also has a function of transmitting a control signal to the home device and operating it.

  In addition, the cleaning robot 5 can have various functions. For example, a sensor for detecting a user's contact, a humidity sensor for detecting humidity, a human sensor for detecting a person, an odor sensor for detecting an odor, and the like may be provided.

  The air conditioner 6 is a device that performs air conditioning such as cooling and heating, and is a so-called air conditioner. The air conditioner 6 includes a temperature sensor, and transmits the room temperature detected thereby to the home server 3.

  The lighting device 7 is a lighting device including a light source such as an LED, and can be turned on and off under the control of the home server 3.

  The television 8 is a television receiver, and the recording device 9 is a device for recording a broadcast program received by the television 8. Operations of these devices can also be controlled by the home server 3.

[Family message board screen example]
Next, with reference to FIG. 3, about the writing to the family message board by the agent server 1, FIG. 3 is a figure which shows the example of a screen of a family message board.

  In the illustrated screen example, messages M1 to M5 written on the family message board are arranged in time series, and an icon indicating the writer is displayed on each message. Specifically, the icon of message M1 indicates that the writer is “dad” in FIG. 2, and the icons of messages M3 and M5 indicate that the writer is “mother” in FIG. . The icons of the messages M2 and M4 indicate that the writer is the cleaning robot 5.

  The agent server 1 controls writing as the cleaning robot 5. In the example shown in the figure, a response is written from the cleaning robot 5 in response to an instruction “start cleaning” from “dad”. The agent server 1 is writing this response. .

  At this time, the agent server 1 executes an action determined according to mood information that is an index indicating the emotion of the cleaning robot 5 itself and user-facing emotion information that is an index indicating an emotion to the user. In the example shown in the figure, a message “Yes” is posted as a writing from the cleaning robot 5 and an action of undertaking the cleaning is executed.

  In the illustrated example, an instruction is also given to the cleaning robot 5 from “mother”. Here, it is assumed that “mother” has a higher familiarity with cleaning robot 5 than “dad”. In this case, the agent server 1 makes a response by changing the response text, character font, character color, background color, and the like.

  As a result, a message “Yes, please ♪” is posted as a writing from the cleaning robot 5. In this way, if the instruction is given to the cleaning robot 5 in the same manner, and the user's sentiment information for the user who has given the instruction is different, a different response is made.

  That is, by changing the response content for each user, the cleaning robot 5 responds to each user as if he / she has a favorite / dislike emotion.

  The content of the response also changes depending on mood information. As a result, it is possible to express a situation in which a person is in a bad mood and takes an insidious attitude toward a normally good partner through a message to the family message board.

  In this way, the agent server 1 performs control to make the communication between the cleaning robot 5 and the user more realistic.

  In addition, the action to the cleaning robot 5 is not limited to only an instruction as shown in FIG. For example, it is possible to give up or beat the cleaning robot 5. Moreover, the direct action | operation with respect to the cleaning robot 5 of making a voice or operating the cleaning robot 5 from a user may be sufficient. In this case, the response from the cleaning robot 5 is such that the user who has acted on the cleaning robot 5 responds to the cleaning robot 5, for example, the cleaning robot 5 outputs a sound and directly transmits a message to the user. Perform in a way that can be confirmed immediately.

  Note that the response from the cleaning robot 5 is not limited to the response to the user who has given the instruction. For example, when an instruction is given without a family message board by a direct voice or operation to the cleaning robot 5 from the user, that fact (who received the instruction and what instruction was received) May be posted on the family message board. In this case, the content of the posting may be changed according to the user who gives the instruction.

  Thereby, even when the cleaning robot 5 is instructed directly, each user can confirm the instruction through the message of the cleaning robot 5 posted on the family message board.

[Agent server configuration]
Next, the configuration of the agent server 1 will be described with reference to FIG. FIG. 1 is a block diagram showing a main configuration of the agent server 1 according to the present embodiment.

  In the present embodiment, for convenience of explanation, the user emotion information is described as attribute information managed for each user. However, the user emotion information may be managed for each group including a plurality of users.

  As shown in FIG. 1, the agent server 1 includes at least a communication unit 11, a storage unit 12, and a control unit 13.

  The communication unit 11 is a communication device for the agent server 1 to communicate with the outside. Specifically, a communication control unit 131 described later is used to transmit and receive various information to and from the family message board server 2 and the home server 3.

  The storage unit 12 is a storage device that stores various types of information used in the device, and includes a mood information storage unit 121, an anti-user emotion information storage unit 122, a calculation method storage unit 123, and an action storage unit 124.

  The mood information storage unit 121 stores mood information, which is device attribute information set independently of the user as indicating the attribute of the cleaning robot 5. This mood information is updated according to the environment surrounding the cleaning robot 5, the state of the cleaning robot 5, or the user's action on the cleaning robot 5. The mood information is information set as an index indicating the emotion of the cleaning robot 5.

  For example, mood information is stored in the mood information storage unit 121 in three stages of 3 (good), 2 (normal), and 1 (bad). Note that the mood information is not limited to three levels, and may be any method that can divide emotions of the cleaning robot 5. Details of the mood information update process will be described later.

  The user emotion information storage unit 122 stores user emotion information set for each user of the cleaning robot 5. The user emotion information is determined for each user, for example, by the user's action on the cleaning robot 5. That is, the feeling information for the user is like likes and dislikes for each user of the cleaning robot 5.

  The calculation method storage unit 123 stores a calculation method for determining an action determination level from mood information and user emotion information.

  The action storage unit 124 stores information in which each action determination level is associated with the action content of the cleaning robot 5.

  The structure of data stored in the user emotion information storage unit 122, the calculation method storage unit 123, and the behavior storage unit 124, and a specific example will be described later.

  The agent server 1 may include a temporary storage unit (not shown). The temporary storage unit is a so-called working memory that temporarily stores data used for calculation and calculation results in the course of various processes executed by the agent server 1, and is composed of a storage device such as a RAM (Random Access Memory). Is done.

  Further, which data is stored in which storage device is determined as appropriate based on the purpose of use, convenience, cost, physical restrictions, and the like of the agent server 1.

  Next, the control unit 13 performs overall control of each unit included in the agent server. The control unit 13 includes a communication control unit 131, an action determination unit (behavior determination unit) 132, an output information creation unit (execution control unit) 133, a user identification unit 134, a mood information update unit (equipment attribute update unit) 135, and A user emotion information update unit (user attribute update means) 136 is provided.

  The communication control unit 131 controls communication between the inside and the outside of the agent server 1 via the communication unit 11. Specifically, the communication control unit 131 acquires various types of information from the family message board server 2 or the home server 3 via the communication unit 11. Then, the acquired information is supplied to each unit. In addition, the communication control unit 131 transmits output information supplied from an output information creation unit 133 described later to the family message board server 2 or the home server 3 via the communication unit 11.

  The behavior determination unit 132 determines the behavior of the cleaning robot 5 with respect to the user based on the mood information of the cleaning robot 5 and the user emotion information set for the user. More specifically, the behavior determination unit 132 determines the content and mode of the behavior that the cleaning robot 5 performs directly on the user, and the content and mode of the message addressed to the member posted as a substitute for the cleaning robot 5 on the family message board. Make decisions. The action determination method will be described later.

  The output information creation unit 133 executes the action determined by the action determination unit 132. More specifically, when the action determining unit 132 determines an action that the cleaning robot 5 directly causes the user to perform, the output information creating unit 133 causes the cleaning robot 5 to execute the action via the home server 3. Further, when the action determining unit 132 makes a determination regarding posting of a message, the output information creating unit 133 posts a message with the determined content and mode.

  The user specifying unit 134 specifies a user who has performed a predetermined action on the cleaning robot 5 from the information supplied from the communication control unit 131. Specifically, the user specifying unit 134 specifies the user who posted the message to the cleaning robot 5 from the log of the family message board acquired from the family message board server 2. In addition, the user specifying unit 134 acquires information on a predetermined action of the user with respect to the cleaning robot 5 transmitted from the cleaning robot 5 via the home server 3 and specifies a user who has performed this action.

  Here, the “information regarding the action” is data such as voice, image, and moving image indicating the action performed by the user with respect to the cleaning robot 5. For example, voice data recording a user's voice, a photograph of a user's action, a contact detection result from the user, and the like. Specific examples of user actions will be described later.

  The mood information update unit 135 updates the mood information based on the information supplied from the communication control unit 131. Specifically, the mood information update unit 135 is acquired from the family message board server 2 or the home server 3 via the communication control unit 131, the environment surrounding the cleaning robot 5, the state of the cleaning robot 5, or the cleaning robot 5. The mood information is updated according to the information regarding the user's action.

  More specifically, the mood information update unit 135 responds to detection of the above factors based on information that defines increase / decrease of the count value according to the degree of influence on the mood information for each of the factors that affect the mood information. Update the count value. Then, the mood information is updated when the count value reaches a predetermined upper limit value or lower limit value.

  In this way, by updating the mood information via the count value, the frequency with which the mood information fluctuates can be lowered. Further, by setting the upper limit value and the lower limit value of the count value to be large, fluctuations in mood information can be further suppressed, and conversely, the mood information can be easily changed by setting it small. As a result, it is possible to express a personality that the mood is easily changed or difficult to change.

  The mood information may be updated so that the environment surrounding the cleaning robot 5, the state of the cleaning robot 5, or the user's action on the cleaning robot 5 is reflected in the mood information, and its specific mode is particularly limited. Not.

  The user emotion information update unit 136 updates the user emotion information based on the information supplied from the communication control unit 131. Specifically, the anti-user emotion information updating unit 136 determines the anti-user emotion information according to information about the user's action on the cleaning robot 5 acquired from the family message board server 2 or the home server 3 via the communication control unit 131. Update. The update of the user emotion information can be performed in the same manner as the mood information.

  As described above, in the agent server 1, the behavior determination unit 132 determines the behavior for the user from the mood information and the anti-user emotion information. Therefore, even for the same user, different behaviors can be determined according to the mood information.

  Therefore, the reality of communication can be improved. And thereby, the entertainment property at the time of using the cleaning robot 5 can be improved.

[Configuration of User Emotion Information Storage Unit]
Next, data stored in the user emotion information storage unit 122 will be described with reference to FIG. FIG. 4A is a schematic diagram illustrating an example of user emotion information stored in the user emotion information storage unit 122. Note that the data structure shown in FIG. 4A is an example, and the data structure is not limited to a table format. The same applies to data described below.

  The “user name” column stores information indicating each user. The information stored in this column is not limited to information indicating an individual, and may be information indicating a group composed of a plurality of users, for example. In addition, information indicating the user may be appropriately added depending on the situation.

  The “intimacy” column stores the familiarity (user attribute information, update target information) of the cleaning robot 5 for each user. Here, the familiarity is an index indicating the degree of intimacy of the cleaning robot 5 with respect to the user as a numerical value. The higher the intimacy, the more favorable the cleaning robot 5 will deal with the user. On the other hand, when the intimacy is low, the user will dislike the user.

  In FIG. 4A, the familiarity is shown in 10 levels. However, there is no intention to limit the familiarity, and any method may be used as long as the familiarity for each user can be classified. For example, the classification may be “like”, “normal”, or “dislike”.

  In addition, in the user emotion information storage unit 122, there may be a plurality of information associated with the “user name”. For example, as shown in FIG. 4B, in addition to “intimacy”, there may be a column of “courtiness”.

  In the column “Politeness”, the courtesy level (user attribute information, non-update target information) for each user of the cleaning robot 5 is stored. Here, the courtesy level is information that determines the language used by the cleaning robot 5 for each user. For example, it responds with a polite wording to a user with high courtesy.

  The courtesy level is a value defined by the user or defined by default, and is not subject to update. This makes it possible to communicate with words according to the courtesy regardless of the value of intimacy. For example, “Dad” can always be dealt with polite language.

  Further, in FIG. 4B, the courtesy level is shown in 10 levels, but there is no intention to limit to this, and any manner that can classify the courtesy level for each user may be used. For example, it may be divided into “polite”, “ordinary”, and “become familiar”.

  The user emotion information is not limited to the intimacy and courtesy described above, and may be information corresponding to a factor that is considered to affect the behavior to the user. For example, an index indicating the current position, current position, equality, or the like may be used as user emotion information, or an index indicating compatibility with the user may be used as user emotion information. Although it is preferable to change the position, it is preferable that the compatibility is not to be updated because compatibility is considered to be basically unchanged.

[Configuration of calculation method storage unit]
Next, data stored in the calculation method storage unit 123 will be described with reference to FIG. 5A and 5B are schematic diagrams illustrating an example of data stored in the calculation method storage unit 123. FIG.

  FIG. 5A shows an example of a level determination table for determining the action determination level. In the illustrated data, the “index value range” column stores information indicating the index value range. Here, the index value is a value serving as an action determination index that takes into account both mood information and anti-user emotion information, and is calculated from a predetermined calculation formula using the mood information and anti-user emotion information.

  The calculation formula may be any formula that can calculate an index value reflecting both mood information and user emotion information. For example, the information may simply be a product of mood information and user emotion information (index value = mood information × user emotion information) or may be added (index value = mood information + user emotion information). There may be.

  Furthermore, weighting may be performed by mood information and user emotion information. For example, a calculation formula of index value = mood information × α + vs. User emotion information × β (α, β: weighting values for each information) may be used. By weighting, it is possible to set how much of which attribute information is important.

  In the “behavior determination level” column, a numerical value indicating the action determination level is stored. That is, when using the level determination table of FIG. 5A, the behavior determination unit 132 reads the behavior determination level associated with the index value calculated by the calculation formula with reference to the table. In addition, in the example of the figure, although the action decision level is made into five steps from 1 to 5, it is not limited to this.

  Further, the level determination table may be a horizontal table × vertical matrix table as shown in FIG. In this case, the behavior determination unit 132 reads the behavior determination level corresponding to the mood information and the anti-user emotion information read from the mood information storage unit 121 and the anti-user emotion information storage unit 122 with reference to the table.

  When there are a plurality of pieces of emotion information for the user, a value obtained by simply multiplying or adding the mood information and the pieces of emotion information for the user may be used as the index value. Also, weighting may be performed.

  Furthermore, when there are a plurality of pieces of user emotion information, a three-dimensional matrix table may be used when determining the action determination level using the level determination table. However, in the case of using user feeling information specifying a specific action (in the case of courtesy, wording) like the courtesy degree, this is not reflected in the action determination level. This is to prevent a specific action from being performed in combination with other user emotion information (in the case of courtesy, the wording changes).

[Configuration of action memory unit]
Next, the data stored in the action storage unit 124 will be described with reference to FIG. FIG. 6 is a schematic diagram illustrating an example of an action determination table stored in the action storage unit 124. As shown in the figure, the behavior determination table is a table showing the content and mode of behavior according to the behavior determination level.

  Specifically, in the illustrated action determination table, for each action determination level, “tone”, “response when a request from the user is received”, “font for display”, “display time” “Background color” and “output volume” are associated with each other.

  Among these items, “font for display” and “background color for display” indicate the font and background color of a message that is registered in the family message board and the posting is made by the cleaning robot 5. In addition to “background color when displaying”, for example, an item for specifying “character color when displaying” may be included. Here, “character color when displaying” indicates the character color of a message registered on the family message board with the cleaning robot 5 as a poster. The “output volume” indicates the volume when a voice message is directly output from the cleaning robot 5 to the user.

  The “tone” is applied both when a message is posted and when a voice message is output from the cleaning robot 5 to the user, and indicates the tone of the cleaning robot 5 in the message.

  The “response when receiving a request from the user” is also applied to both when posting a message and when outputting a voice message from the cleaning robot 5 to the user. The action content when the execution request such as cleaning is made by the family message board or when the execution request such as cleaning is directly made to the cleaning robot 5 is shown.

  In addition, in the above example, except for “response when receiving a request from the user”, the base action (posting or outputting a message and the content of the message) is determined, and the action determination level This is for changing a part (for example, tone) of the sound.

  In the example of FIG. 6, for the action determination level “1”, “response when receiving a request from the user” is “reject”. In this case, the agent server 1 does not transmit a signal for operating the cleaning robot 5. That is, the agent server 1 can reproduce the situation unique to the communication between people, which is requested by a disliked partner and refused, in the communication with the device called the cleaning robot 5.

  In addition, there is no intention to limit the data example of the action memory | storage part 124 to FIG. 6, A new row | line | column may be added other than the action and operation | movement shown by FIG.

  Further, the action may be determined directly from the index value calculated from the calculation formula, the numerical value of the mood information, and the numerical value of the user emotion information without going through the action determination level.

  As described above, the behavior determination unit 132 determines the behavior as the cleaning robot 5 only by determining the behavior determination level from the mood information and the emotion information with respect to the user, and reading the behavior associated with the determination level. Can do.

  Further, the determined behavior differs depending on the behavior determination level, that is, mood information and user emotion information. That is, since the message displayed on the electronic message board or the content of the sound output from the cleaning robot 5 is changed according to the user or the situation, the user can perform communication closer to a human partner.

[Behavior decision process flow]
Next, an example of the flow of action determination processing (behavior control method) in the agent server 1 will be described with reference to FIG. FIG. 7 is a flowchart showing a flow of action determination processing in the agent server 1.

  Here, an example will be described in which an action that is a response to an instruction when an instruction is given from the user to the cleaning robot 5 is described. However, the action determination process is not limited to such a case. It may be performed when determining an arbitrary action related to the robot 5. For example, when a message such as praising or scolding is issued directly or by a family message board from the user to the cleaning robot 5, it may be performed to determine a response to the message.

  First, an instruction to the cleaning robot 5 is received (S101). Specifically, the communication control unit 131 receives an instruction to the cleaning robot 5 from the family message board server 2 or the home server 3 via the communication unit 11. Upon receipt of the instruction, the action determination unit 132 starts the following process to determine an action that is a response to the instruction.

  When the user directly instructs the cleaning robot 5, the home server 3 is notified that the instruction has been received from the cleaning robot 5, and the agent server 1 is notified from the home server 3. In this case, the cleaning robot 5 suspends execution of the instruction from the user until receiving an instruction from the agent server 1. On the other hand, when the user gives an instruction on the family message board, the family message board server 2 notifies the agent server 1 of this fact. However, in this case, the family message board server 2 needs to be equipped with a function of determining an instruction to the cleaning robot 5 and notifying the agent server 1. For this reason, the agent server 1 acquires the conversation log from the family message board server 2 periodically or at the timing when the conversation log is updated, and analyzes this to confirm that the instruction to the cleaning robot 5 has been performed. You may specify. Thereby, it becomes unnecessary to mount the above function on the family message board server 2.

  Subsequently, the action determining unit 132 causes the user specifying unit 134 to specify the instructed user (S102). Here, in the case of the instruction by the family message board, the user specifying unit 134 specifies the user who gives the instruction from the log of the family message board. On the other hand, in the case of a direct instruction to the cleaning robot 5, data such as voices, images, and moving pictures related to the user's actions are acquired from the cleaning robot 5, and the user who gives the instruction is specified from such data.

  Next, the behavior determination unit 132 reads mood information (S103), and then reads user emotion information (S105). Specifically, in S <b> 105, the behavior determining unit 132 reads out user emotion information (for example, familiarity) associated with the user specified by the user specifying unit 134 from the user emotion information storage unit 122. It should be noted that either the reading of mood information or the reading order of user emotion information may be performed first or in parallel.

  Next, the behavior determination unit 132 determines whether or not to use other user emotion information (S107). When other user emotion information is used (YES in S107), the behavior determining unit 132 uses another user emotion information (for example, courtesy degree) of the user identified by the user identifying unit 134 as the user emotion information. Read from the storage unit 122.

  On the other hand, when the other user emotion information is not used (NO in S107), the behavior determining unit 132 reads the calculation method (S109). Specifically, the behavior determination unit 132 reads the calculation formula from the calculation method storage unit 123. If the action determination level is determined by the level determination table, the table is read out.

  Next, the behavior determination unit 132 determines a behavior determination level (S111). Specifically, the behavior determination unit 132 substitutes the mood information and the anti-user emotion information read from the mood information storage unit 121 and the anti-user emotion information storage unit 122, respectively, into the calculation formula read from the calculation method storage unit 123. The index value is calculated. Subsequently, the action determination level associated with the calculated index value is read with reference to the calculation method storage unit 123.

  When determining the action determination level using the level determination table, the action determination unit 132 is associated with the mood information and the anti-user emotion information read from the mood information storage unit 121 and the anti-user emotion information storage unit 122, respectively. The determined action determination level is read from the level determination table.

  Next, the behavior determination unit 132 reads the behavior content (S113, behavior determination step). Specifically, the behavior determination unit 132 reads the behavior corresponding to the behavior determination level determined in S111 from the behavior storage unit 124, and determines the behavior according to the read content and the content of the instruction to the cleaning robot 5. Then, the action determining unit 132 instructs the output information creating unit 133 to execute the determined action.

  For example, when an instruction to perform cleaning is given from the family message board, if the action determination level is 2 or more, it is determined to perform cleaning. In addition, it is determined to post a message indicating that cleaning is undertaken on the family message board, and the content and mode of this message are determined with reference to the action determination table. For example, when the action determination table of FIG. 6 is used, if the action determination level is 5, a message with “round character” and “light color” background with a message of “easy to receive a cleaning instruction” in “close tone” Decide to display in color.

  In addition, when using the user feeling information for designating the wording like the courtesy degree in FIG. 4B, the processing for changing the wording of the message determined as described above to the designated one. Do further.

  Finally, the output information creation unit 133 creates output information (S115, execution control step), outputs the created output information (S117), and the action determination process ends.

  Specifically, when the user gives an instruction on the family message board, the output information creation unit 133 generates a message to be posted on the family message board in accordance with the instruction from the action determination unit 132, and the family as a message from the cleaning robot 5 Post to the message board server 2. Further, the output information creation unit 133 generates a command for causing the cleaning robot 5 to execute an operation instructed by the user, transmits the command to the home server 3, and transmits the command to the cleaning robot 5. In addition, when the action determination part 132 has determined not to perform the operation | movement which the user instruct | indicated, the production | generation and transmission of this command are not performed.

  On the other hand, when the user directly gives an instruction to the cleaning robot 5, the output information creation unit 133 generates a command for causing the cleaning robot 5 to output a sound in the content and manner instructed by the behavior determining unit 132, and the home server 3 and transmitted to the cleaning robot 5. Further, the output information creation unit 133 generates a command for causing the cleaning robot 5 to execute an operation instructed by the user, transmits the command to the home server 3, and transmits the command to the cleaning robot 5. Note that when the action determining unit 132 has determined not to execute the operation instructed by the user, the operation execution instruction is not generated and transmitted.

  As described above, the agent server 1 posts a message based on the mood information of the cleaning robot 5 and the emotional information on the user to the family message board. Alternatively, the cleaning robot 5 is made to output sound based on mood information and user emotion information.

  Thereby, a user can experience the realistic communication with the cleaning robot 5, and the entertainment property at the time of using a household appliance can be improved.

[Update information]
Next, with reference to FIG. 8, the update of mood information and user emotion information will be described. FIG. 8 is a table showing an example of updating mood information and user emotion information.

  First, updating of mood information will be described. The mood information is an index like the mood of the cleaning robot 5, and changes depending on the environment surrounding the cleaning robot 5, the state of the cleaning robot 5, or the user's action on the cleaning robot 5. As described above, the mood information is stored in the mood information storage unit 121 in three stages of 3 (good), 2 (normal), and 1 (bad), and changes in the environment surrounding the cleaning robot 5 and the state of the cleaning robot 5 When there is a change or a user action on the cleaning robot 5, the count value of the mood information is updated. When the count value reaches a predetermined value, the mood information stage is changed.

  Specifically, in the example of FIG. 8A, when the cleaning robot 5 completes the cleaning, it is assumed that the cleaning robot 5 feels better from the sense of accomplishment, and the count value is increased by 1 in this state. Corresponds. As described above, the operation state (state information) of the cleaning robot 5 indicating that the cleaning has been completed may be the target of the increase / decrease of the count value.

  Further, when the user gives up that the cleaning robot 5 has completed the cleaning, it is assumed that the cleaning robot 5 feels better, and this event is associated with increasing the count value by two. As described above, the combination of the operation state that the cleaning has been completed and the message from the user may be used as an object to increase or decrease the count value as one event.

  On the other hand, when the user gives an instruction for cleaning immediately before the scheduled cleaning time, the cleaning robot 5 that is about to clean is assumed to feel unwell, and this event is associated with a decrease in count value by one. .

  In addition, the count value of the mood information may be increased or decreased according to the state information indicating the state of the cleaning robot 5 itself. For example, in the example of FIG. 8A, when the remaining charge amount is less than a predetermined amount, and when the amount of dust in the dust cup is greater than a predetermined amount, the mood of the cleaning robot 5 is Assuming that it becomes worse, the count value is reduced by 1 for the transition to the state.

  Although not shown in the figure, it is assumed that the mood of the cleaning robot 5 also recovers when these states are resolved. For this reason, the transition from the state where the remaining charge amount is less than the predetermined amount to the large state, and the transition from the state where the amount of dust is larger than the predetermined amount to the small state may be associated with incrementing the count value by one. . Further, the count value may be increased or decreased in stages according to the amount of garbage or the remaining charge level.

  For example, the count value may be decreased when the remaining charge becomes less than 10%, and may be increased when the remaining charge becomes 10% or more by charging. For example, the count value may be reduced by 1 when the amount of accumulated dust reaches 90%, and the count value may be further decreased by 2 when the amount of accumulated dust reaches 100% (the dust cup is full).

  Of course, the factor that fluctuates the count value may be determined as appropriate, and is not limited to that shown in FIG. For example, the count value may be decreased when the room temperature exceeds the upper limit value or when the room temperature becomes less than the lower limit value. Similarly, the count value may be decreased when the humidity exceeds the upper limit value or becomes less than the lower limit value. Thus, the count value may be updated according to the environmental information indicating the situation around the cleaning robot 5. In addition, since environmental information can be acquired by providing the sensor in the cleaning robot 5, it can also be expressed as sensing data.

  Further, the count value may be changed by combining a plurality of information changes. For example, even if the amount of dust in the dust cup is large, it may not be reduced when the remaining charge amount is sufficient, but may be reduced when the remaining charge amount is less than a predetermined amount.

  In addition, the table as shown to (a) of FIG. 8 may be preserve | saved in the mood information storage part 121, for example. The mood information update unit 135 may determine increase / decrease in the count value by referring to this table.

  Then, by increasing or decreasing the count value as described above, when the count value exceeds a predetermined value (for example, +10 and −10), the mood information is updated and the count value is reset. In addition, for example, the count value 0 to 5 may be unpleasant, the case 6 to 22 may be normal, the case 23 to 30 may be good, and the count value may not be reset.

  In addition, the range of each stage of the mood information may be the same or different. When different, it is also possible to express a difficult character. Hereinafter, a configuration in which the count value is reset when the count value exceeds a predetermined value will be described as an example.

  Next, the update of the user emotion information will be described. Since the anti-user emotion information is an index such as likes and dislikes that the cleaning robot 5 has for each user, the emotion information changes depending on, for example, the user's action on the cleaning robot 5. As described above, the anti-user emotion information is stored in the anti-user emotion information storage unit 122 in 10 steps, and is updated according to the user's action on the cleaning robot 5. Similar to the mood information, this update is performed by changing the stage of the user emotion information when the count value reaches a predetermined value.

  Specifically, the increase / decrease of the count value is defined in advance for the user's action on the cleaning robot 5. For example, as shown in FIG. 8B, it is defined that the count value is reduced by a predetermined amount for an action such as kicking or hitting the cleaning robot 5, and for an action such as stroking the opposite, It is defined that the value is increased by a predetermined amount.

  Note that an action such as kicking or hitting can be detected by providing the cleaning robot 5 with a sensor. Further, the act of stroking can be detected by providing the cleaning robot 5 with a panel or sheet that can detect stroking.

  Of course, the factor that fluctuates the count value may be determined as appropriate, and is not limited to the example of FIG. For example, the count value may be changed by calling the cleaning robot 5, or the count value may be changed according to the content of the message (speaking, giving up, etc.) issued to the cleaning robot 5.

  Further, the count value may be changed depending on the combination of the state of the cleaning robot 5 and the user's action, such as the action of giving up the cleaning robot 5 after completion of the cleaning as described in the update of the mood information described above. .

  The message for the cleaning robot 5 may be a message issued directly from the user toward the cleaning robot 5 or may be a message issued toward the cleaning robot 5 by posting to the family message board. Good.

  Furthermore, if the call to the cleaning robot 5 is made immediately after the cleaning is completed, the count value will increase. On the other hand, the count value will decrease if the call is slow or the cleaning completion report is ignored. As described above, the count value may be changed based on the time until the response to the cleaning robot 5.

  In addition, as shown in the above example, when there are as many as 10 stages of user emotion information, as shown in FIG. 8C, the user's behavior is directly associated with the user emotion information. The user emotion information may be updated using the data without using the count value.

  Finally, tables as shown in FIGS. 8B and 8C may be stored in the user emotion information storage unit 122, for example. The user emotion information update unit 136 may determine increase / decrease of the count value by referring to this table.

[Flow of mood information update process]
Next, a flow of mood information update processing in the agent server 1 will be described with reference to FIG. FIG. 9 is a flowchart showing a flow of mood information update processing in the agent server 1.

  First, it is determined whether or not information related to changes in the environment and information surrounding the cleaning robot 5 has changed (S201). Specifically, the mood information update unit 135 receives information (cleaning robot 5 status information, sensing data, etc.) related to the cleaning robot 5 transmitted to the agent server 1 via the home server 3, and uses this information as the information. Based on this, the above determination is made.

  When it is determined that the information has changed (YES in S201), the mood information update unit 135 determines whether or not to update the mood information (S203). Specifically, the mood information updating unit 135 makes this determination depending on whether or not a change defined in the table of FIG.

  When it is determined that the mood information is to be updated (YES in S203), the mood information update unit 135 determines increase / decrease in the count value of the mood information (S205). Specifically, the mood information update unit 135 reads the increase / decrease in the count value associated with the detected change with reference to the table.

  Subsequently, the mood information update unit 135 updates the count value (S207). Specifically, the mood information update unit 135 updates the count value based on the increase / decrease of the read count value.

  Next, the mood information update unit 135 determines whether or not the count value has reached a predetermined value (S209). If it is determined that the predetermined value has been reached (YES in S209), the mood information update unit 135 updates the mood information (S211). Specifically, a process of raising or lowering the mood information by one level is performed, the numerical value of the count value is returned to 0, and the mood information update process is ended.

  If the change information does not update the mood information (NO in S203) and if the count value has not reached the predetermined value (NO in S209), the mood information update process ends.

  In the above example, the update is performed using the count value, but the emotion information may be directly updated without using the count value. In this case, steps S205 to S209 are omitted.

[Flow of user emotion information update processing]
Next, with reference to FIG. 10, the flow of the user emotion information update process in the agent server 1 will be described. FIG. 10 is a flowchart showing the flow of the user emotion information update process in the agent server 1.

  First, information about an action from a user is received (S301). Specifically, the communication control unit 131 receives information about an action from the user from the family message board server 2 or the home server 3 via the communication unit 11. Here, the information received by the communication control unit 131 is a log of messages posted to the family message board acquired from the family message board server 2 and supplied from the cleaning robot 5 acquired from the home server 3. Data such as voice, image, and video.

  Next, an action from the user is specified (S303). Specifically, the user emotion information update unit 136 specifies an action from the information received by the communication control unit 131. Subsequently, the user emotion information update unit 136 determines whether or not to update the user emotion information (S305). Specifically, the user emotion information update unit 136 refers to a table as shown in FIG. 8B and determines whether or not the specified action is to update the user emotion information. .

  Here, when the specified action is to update the user emotion information (YES in S305), the user emotion information update unit 136 instructs the user specifying unit 134 to identify the user who has performed the action. Specify (S307).

  Next, the user emotion information update unit 136 determines increase or decrease of the count value of the user emotion information (S307). Specifically, the user emotion information update unit 136 reads the increase / decrease in the count value associated with the action with reference to the table. Subsequently, the user emotion information update unit 136 updates the count value of the identified user (S311). More specifically, the user emotion information update unit 136 updates the count value of the identified user based on the increase or decrease of the read count value.

  Next, the user emotion information update unit 136 determines whether or not the count value has reached a predetermined value (S313). When the predetermined value is reached (YES in S313), the anti-user emotion information update unit 136 updates the specified user's anti-user emotion information. Specifically, the user emotion information storage unit 122 is referred to with the specified user information, and the user emotion information associated with the user name is increased or decreased by one level, and the count value is set to 0. The process for updating the user emotion information is ended.

  If the action from the user is not to update the user emotion information (NO in S305) and the count value has not reached the predetermined value (NO in S313), The user emotion information update process is terminated.

  Further, when the user emotion information is directly updated by an action from the user without using the count value, the steps of S309 to S313 are omitted.

[Modification]
Although the example which controls communication with a user and the cleaning robot 5 was shown above, the apparatus made into the object of communication is not restricted to the cleaning robot 5. FIG. For example, communication with other devices such as an air conditioner 6 and a television 8 which are household devices can be realized in the same manner as the cleaning robot 5.

[Summary]
As described above, the behavior control device (agent server 1) according to one aspect of the present invention is a behavior control device that controls behavior of a device (cleaning robot 5) for a user, and is set for the user. Based on the user attribute information (to-user sentiment information) and the device attribute information (mood information) that is set independently of the user and indicates the attribute of the device, the user attribute information and the device Action determining means (behavior determining section 132) for determining a predetermined action according to device attribute information, and execution control means (output information creating section 133) for executing the action determined by the action determining means. Yes.

  The behavior control method according to an aspect of the present invention is a behavior control method by a behavior control device that controls behavior of a device with respect to a user, the user attribute information set for the user, and the attribute of the device. An action determining step for determining a predetermined action according to the user attribute information and the device attribute information based on the device attribute information to be updated and set independently of the user as indicating An execution control step for executing the action determined in the action determination step.

  According to said structure, the action with respect to the user of an apparatus is determined according to user attribute information and apparatus attribute information, and the determined action is performed. The behavior of the device with respect to the user includes behavior that the behavior control device acts on the user as a proxy of the device, in addition to behavior that the device directly performs on the user.

  Here, since the said user attribute information is the information set with respect to the user, the action according to the user can be determined by determining an action based on this information.

  On the other hand, since the device attribute information is set independently of the user and is to be updated, by determining the behavior in consideration of the device attribute information, the behavior for the same user is changed to the device attribute at that time. It can change depending on the information.

  That is, according to said structure, while making it possible to perform the action according to a user, the action rich in change can be performed according to the apparatus attribute information at that time. Further, since the device attribute information is set independently of the user, the user cannot directly control the device attribute information.

  As described above, according to the above configuration, since it is possible to reflect in the behavior elements that the user cannot directly control, such as the feeling of the other party in communication between people, Reality can be given to communication.

  In addition, the said behavior control apparatus can also be expressed as follows.

  A behavior control device for controlling behavior of a device to a user, the device being set independently of the user as user attribute information set for the user and the attribute of the device, and to be updated Action determining means for determining a predetermined action according to the user attribute information and the device attribute information based on the attribute information; and an execution control means for causing the device to execute the action determined by the action determining means. A behavior control device comprising:

  In a service that allows posting and browsing of messages via a communication network, a posting device that posts a message addressed to the user of the device as a proxy of the device, the user attribute information set for the user, A message having a content and a mode determined in advance according to the user attribute information and the device attribute information based on the device attribute information to be updated and set independently of the user as indicating the device attribute A posting apparatus comprising: a determining unit that determines a message; and an execution control unit that posts a message determined by the determining unit.

  In addition, the behavior control apparatus according to one aspect of the present invention includes at least one of state information indicating a state of the device, an action on the device from the user or another user, and environmental information indicating a situation around the device. Accordingly, a device attribute update means (a mood information update unit 135) for updating the device attribute information may be provided.

  According to said structure, the further reality can be given to communication with a user and an apparatus. This is also because in the communication between people, emotions change according to the state at that time, behaviors made by others, and surrounding circumstances, and behaviors also change according to emotions.

  Moreover, the behavior control apparatus according to an aspect of the present invention may include a user attribute update unit that updates the user attribute information according to an action on the device from the user.

  According to said structure, the further reality can be given to communication with a user and an apparatus. This is also because in the communication between people, the feelings toward the other party change depending on what action is taken from the other party, and the behavior also changes according to the emotion.

  In the behavior control device according to an aspect of the present invention, the user attribute information includes update target information to be updated and non-update target information that is not to be updated. The update means may be configured to update only the update target information.

  According to said structure, the further reality can be given to communication with a user and an apparatus. This is because even in communication between people, the behavior changes according to factors that do not change, such as compatibility, position, or relationship, and emotions that change according to the behavior from the other.

  Further, in the behavior control device according to one aspect of the present invention, the behavior of the device to the user is a service that enables posting and browsing of a message via a communication network, and the behavior control device acts as a proxy for the device. It is an action for posting a message addressed to a user, and the action determining means is configured to determine to post a message having a predetermined content and mode according to the user attribute information and the device attribute information. Good.

  According to the above configuration, since messages are posted to a service that allows posting and browsing of messages via a communication network, communication with a user who is not near the device and cannot directly communicate with the device is realized. can do. In addition, since the message to be posted is a message having a content and mode predetermined according to the user attribute information and the device attribute information, the user can experience realistic communication as if they are communicating with a person. it can.

  Further, in the behavior control apparatus according to one aspect of the present invention, at least one of tone, corresponding content, display font, message background color, and message character color according to the user attribute information and the device attribute information. The content and the mode of the message to be posted may be determined with reference to the information indicating.

  According to said structure, a user can experience realistic communication as if it is communicating with a person. This is because in the exchange of messages between people, the tone, the corresponding content, the font used, the background color, the character color, etc. are changed according to the mood at that time and the feelings of the other party.

  In the behavior control apparatus according to one aspect of the present invention, the behavior determination unit is predetermined for the behavior performed by the user on the device according to the user attribute information and the device attribute information. It is also possible to adopt a configuration for determining that the device executes the response of the contents and the mode.

  According to the above configuration, in response to the action performed by the user on the device, the device makes a response in a content and manner predetermined according to the user attribute information and the device attribute information. Users can experience realistic communication as if they were doing it.

  In the behavior control device according to an aspect of the present invention, the behavior determination unit includes information indicating at least one of a tone, a corresponding content, and an output volume according to the user attribute information and the device attribute information. It may be configured to refer to the content and aspect of the response to the action from the user.

  According to said structure, a user can experience realistic communication as if it is communicating with a person. This is because also in communication between people, the tone, the corresponding content, the volume of the voice, etc. are changed according to the mood at that time and the feelings toward the other party.

  The behavior control device may be realized by a computer. In this case, a control program for realizing the behavior control device by a computer by operating the computer as each unit of the behavior control device, and A computer-readable recording medium on which it is recorded also falls within the scope of the present invention.

[Example of software implementation]
Finally, each block of the agent server 1, particularly the communication control unit 131, the action determination unit 132, the output information creation unit 133, the user identification unit 134, the mood information update unit 135, and the anti-user emotion information update unit 136 are integrated circuits It may be realized by hardware by a logic circuit formed on the (IC chip), or may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the agent server 1 includes a storage device (such as a CPU that executes instructions of a program that realizes each function, a ROM that stores the program, a RAM that expands the program, a memory that stores the program and various data) Recording medium). An object of the present invention is to provide a recording medium in which a program code (execution format program, intermediate code program, source program) of a control program of the agent server 1 which is software that realizes the above-described functions is recorded so as to be readable by a computer. This can also be achieved by supplying the agent server 1 and reading and executing the program code recorded on the recording medium by the computer (or CPU or MPU).

  Examples of the recording medium include non-transitory tangible medium, such as magnetic tape and cassette tape, magnetic disk such as floppy (registered trademark) disk / hard disk, and CD-ROM / MO. Discs including optical discs such as / MD / DVD / CD-R, cards such as IC cards (including memory cards) / optical cards, semiconductor memories such as mask ROM / EPROM / EEPROM (registered trademark) / flash ROM Alternatively, logic circuits such as PLD (Programmable Logic Device) and FPGA (Field Programmable Gate Array) can be used.

  The agent server 1 may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited as long as it can transmit the program code. For example, the Internet, intranet, extranet, LAN, ISDN, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication network, and the like can be used. The transmission medium constituting the communication network may be any medium that can transmit the program code, and is not limited to a specific configuration or type. For example, even with wired lines such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, ADSL (Asymmetric Digital Subscriber Line) line, infrared rays such as IrDA and remote control, Bluetooth (registered trademark), IEEE 802.11 wireless, HDR ( It can also be used by radio such as High Data Rate (NFC), Near Field Communication (NFC), Digital Living Network Alliance (DLNA), mobile phone network, satellite line, and digital terrestrial network. The present invention can also be realized in the form of a computer data signal embedded in a carrier wave in which the program code is embodied by electronic transmission.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

  The present invention can be used for a system that allows a user to experience communication with a device such as a home appliance.

1 Agent server (behavior control device)
5 Cleaning robot (equipment)
132 Action decision unit (behavior decision means)
133 Output information creation unit (execution control means)
135 mood information update unit (device attribute update means)
136 Emotion information update unit for user (user attribute update means)

Claims (10)

A behavior control device for controlling behavior of a device to a user,
Based on the user attribute information set for the user and the device attribute information that is set independently of the user as an indication of the attribute of the device and is to be updated, the user attribute information and the device attribute Action determining means for determining a predetermined action according to information;
An action control device comprising: an execution control means for executing the action determined by the action determination means.   Device attribute update for updating the device attribute information according to at least one of status information indicating the status of the device, an action on the device from the user or another user, and environmental information indicating a situation around the device The behavior control apparatus according to claim 1, further comprising means.   The behavior control apparatus according to claim 1, further comprising: a user attribute update unit that updates the user attribute information according to a behavior of the user with respect to the device.   The user attribute information includes update target information to be updated and non-update target information that is not to be updated. The user attribute update means updates only the update target information. The behavior control device according to claim 3, wherein The action for the user of the device is an action in which the behavior control device posts a message addressed to the user on behalf of the device in a service that enables posting and browsing of a message via a communication network,
5. The method according to claim 1, wherein the behavior determination unit determines to post a message having a predetermined content and mode according to the user attribute information and the device attribute information. The behavior control device described.   The behavior determination means refers to information indicating at least one of a tone, a corresponding content, a display font, a message background color, and a message character color according to the user attribute information and the device attribute information, 6. The behavior control apparatus according to claim 5, wherein the content and mode of a message to be posted are determined.   The behavior determining means causes the device to execute a response of a content and a mode predetermined according to the user attribute information and the device attribute information in response to an action performed by the user on the device. The behavior control device according to claim 1, wherein the behavior control device is determined.   The behavior determining means refers to information indicating at least one of a tone, a corresponding content, and an output volume according to the user attribute information and the device attribute information, and details of the response to the behavior from the user and The behavior control device according to claim 7, wherein a mode is determined. A behavior control method by a behavior control device for controlling behavior of a device to a user,
Based on the user attribute information set for the user and the device attribute information that is set independently of the user as an indication of the attribute of the device and is to be updated, the user attribute information and the device attribute An action determining step for determining a predetermined action according to the information;
An action control method comprising: an execution control step for executing the action determined in the action determination step.   A control program for operating the behavior control device according to any one of claims 1 to 5, wherein the control program causes a computer to function as each of the above means.

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